Issue:
I have some Dynamixels and up to this point I have been using a laptop running PUREBASIC and a U2D2 to experiment with them and have defined over 30 command strings. The PUREBASIC program reads the array and writes the output to the serial port connected to the motors.
I am now trying to duplicate the functions using an UNO R4 and attached Dynamixel-shield. Some like:
LEDOn:
Data.a $FF, $FF, $05, $04, $03, $19, $01, $D9
would be easy to duplicate using the shield libraries, However some like:
Swish1:
Data.a $FF, $FF, $FE, $22, $83, $1E, $04, $02, $31, $04, $50, $00, $03, $0C, $06, $50, $00, $04, $0C, $06, $50, $00, $0A, $0C, $0A, $50, $00, $0B, $0C, $06, $50, $00, $0C, $0C, $06, $50, $00, $9D
would be very time consuming to decode (I should have kept notes) and implement (I’m almost 70 and I don’t know if I would last that long) using the available libraries. I used the LEDOn string for testing and have tried as many things as I could find reference to, but none have worked.
Does anyone have a suggestion on how to send the command strings to the Dynamixels without using the libraries?
Thanks.
DYNAMIXEL Servo:
mx-106
DYNAMIXEL Controller:
UNO R4 with Dynamixel shield
Software Interface:
#include <DynamixelShield.h>